The realization of an ideal invisible cloak implementing transformation optics is still missing. An impedance matching concept is implanted into transformation optics cloak to generate an impedance matching cloak (IMC) shell. In this work, it is proved that impedance matching structure reduces the cloaking structure’s disturbance to a propagating electromagnetic field and improves its invisibility measured by scattering field intensity. Such a cylindrical IMC shell is designed, fabricated with proposed rounded rectangular split-ring-resonators (RR-SRRs), and experimental measurements show the total scattering field of a perfect electric conductor (PEC) cylinder surrounded by an IMC shell is improved greatly compared to the PEC cylinder showing electromagnetic wave front ripple suppression and a considerable scattering shrinking effect. IMC shell backward scattering field is suppressed down to 7.29%, compared to the previous value of 86.7% due to its impedance matching character, and overall scattering field intensity shrinking is down to 19.3% compared to the previously realized value of 56.4%. Sideward scattering field recorded in the experiment also has a remarkable improvement compared to the PEC cylinder. The impedance matching concept might enlighten the realization of an ideal cloak and other novel electromagnetic cloaking and shielding structures.